Add floating base and WMR fields to UI
Add printing of joint params in table format

Add printing of joint params in table format in __str__() of
`FloatingRobot` class.
Fix scrollable area in Visualisation

Fix scrollable area for joint variables display in Visualisation window.
Rename `pysymoro/floatr.py` to `pysymoro/robotf.py`
Add methods to return axis values

Add method to return axis values in `GeoParams` class. The `zunit`
method returns the unit vector along z-axis and the `axisa` method
returns the joint axis in screw form.
Add `pysymoro/dynmodel.py`